Abstract: 1. A marine loading arm which includes at least one fluid transfer line having a fixed line end fixed to a base and a moveable line end provided with a coupling adapted for connection to a target duct. The coupling has at least three degrees of freedom relative to the base and the marine loading arm further includes a control device for controlling the movement and positioning of the coupling. The control device has at least three actuators, each of which controls movement of the coupling in a corresponding degree of freedom and each of which comprises an electric motor which is provided at an articulation of the loading arm providing one of the degrees of freedom. The control device further includes a first global positioning system device positioned on or adjacent the coupling for providing information on the absolute positioning of the coupling in space.

Abstract: A control device for controlling the movement of a coupling located on the movable end of a fluid transfer line of a marine loading system includes at least three actuators which each control movement of the coupling in a corresponding degree of freedom, a device positioned on or adjacent the coupling and/or a target duct for providing information on the positioning of the coupling, and a calculating device for (a) calculating the positioning of the coupling relative to the target duct on the basis of the positioning information, (b) calculating control instructions for each of the actuators which will result in movement of the coupling toward the target duct, (c) applying the control instructions to the actuators to bring the coupling toward the target duct, and (d) repeating steps (a)-(c) as necessary until the coupling is located in a position for connection to the target duct.

Abstract: A device for providing information on the positioning of a moveable coupling located on a movable end of a fluid transfer line, the other end of which is fixed to a base, includes a first GPS device which is positioned on or adjacent the coupling and provides information on the absolute positioning of the coupling in space, and a second apparatus which is adapted to cooperate directly with the first apparatus and provides information on the positioning of the base. The second apparatus is disposed on or adjacent the base and provides, on the basis of the information on the positioning of the base and the information on the positioning of the coupling, information on the relative positioning of the coupling directly relative to the base.

Abstract: A device for providing information on the positioning of a moveable coupling which is located on a movable end of a fluid transfer line of a marine loading system and is adapted for connection to a target duct, the other end of the fluid transfer line being fixed to a base. The device comprises a first apparatus for providing information on the positioning of the coupling. The first apparatus is positioned on the coupling or on a member Immediately neighboring the coupling and includes a first GPS device which provides information on the absolute positioning of the coupling in space. The device comprises a second apparatus adapted to cooperate directly with the first apparatus and provides information on the positioning of the base.

Abstract: A device (1) for providing information on positioning of at least one moveable coupling (26) of a marine loading system (2), the system comprising at least one fluid transfer line having a line end fixed to a base (21), and a moveable line end provided with a coupling (26) adapted for connection to a target duct, the coupling or a member immediately neighboring the coupling having at least one means for providing information on the positioning of the coupling (33) either adapted to cooperate directly with a means (34) for providing information on positioning of the base disposed on the base or on a member immediately neighboring the base to provide, on the basis of the information on positioning of the base, information on relative positioning of the coupling directly relative to the base, or adapted to provide information on absolute positioning of the coupling (26) in space, and, the base having a fixed position in space, the device has a calculating means making it possible to calculate on the basis of the

Abstract: The invention concerns a control device for the movement and positioning of a coupling for a marine loading system having at least one fluid transfer line with a first line end fixed to a base and a moveable second line end provided with a coupling adapted for connection to a target duct, the marine loading system further having a plurality of mechanical connections such that the coupling has at least three degrees of freedom relative to the base.

Abstract: A device (1) for providing information on positioning of at least one moveable coupling (26) of a marine loading system (2), the system comprising at least one fluid transfer line having a line end fixed to a base (21), and a moveable line end provided with a coupling (26) adapted for connection to a target duct, the coupling or a member immediately neighboring the coupling having at least one means for providing information on the positioning of the coupling (33) either adapted to cooperate directly with a means (34) for providing information on positioning of the base disposed on the base or on a member immediately neighboring the base to provide, on the basis of the information on positioning of the base, information on relative positioning of the coupling directly relative to the base, or adapted to provide information on absolute positioning of the coupling (26) in space, and, the base having a fixed position in space, the device has a calculating means making it possible to calculate on the basis of the

Abstract: A control device (1) for the movement and positioning of a coupling (26) for a marine loading system (2), comprising at least one fluid transfer line having a line end fixed to a base (21), and a moveable line end provided with a coupling (26) adapted for connection to a target duct (35), the device comprising at least three actuators (27, 28, 29) each for controlling the movement of the system in a degree of freedom, and a command interface (60) and at least one member of the group coupling/target duct or a member that is fixed relative to one at least of the members of the group coupling/target duct comprises at least one means for providing information on positioning of the coupling (33, 34), and the device furthermore comprises calculating means (41) adapted to: calculate the relative positioning of the coupling directly relative to the target duct according to the information provided by the positioning information means of the coupling, calculate control instructions to give to each of the actuators suc

Abstract: The invention concerns a control device for the movement and positioning of a coupling for a marine loading system (2), said marine loading system comprising at least one fluid transfer line having a line end fixed to a base, and a moveable line end provided with a coupling adapted for connection to a target duct, the system further having a plurality of mechanical connections such that the coupling has at least three degrees of freedom relative to the base, the device comprising at least three proportional control actuators (27, 28, 29) each for proportionally controlling the movement of the system in a degree of freedom, a position sensor (30, 31, 32) of the system tracking each degree of freedom, an operator input interface (60) for inputting commands to move the coupling, and a calculator (41) for calculating the instantaneous position of the coupling from the information provided by the sensors, and for calculating, from movement command inputs of the input interface, simultaneous control instructions to